Freertos 的移植中 “FreeRTOSConfig.h“ 的配置

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*/


#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#include "time.h"
#include <stdio.h>
/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
 *
 * See http://www.freertos.org/a00110.html.
 *----------------------------------------------------------*/

/* Ensure stdint is only used by the compiler, and not the assembler. */
#if defined (__ICCARM__)|| defined(__GNUC__)|| defined(__CC_ARM)
//#ifdef __ICCARM__
	#include <stdint.h>
	extern uint32_t SystemCoreClock;
#endif

#define configUSE_PREEMPTION			            1                               //1使用抢占式内核，0使用协程
/******************************************FreeRTOS与钩子函数有关的配置选项****************************************************/
#define configUSE_IDLE_HOOK				                0                    //定义为0                    //1空闲任务钩子函数
#define configUSE_TICK_HOOK				                0                    //定义为0                   //1使用时间片钩子
/***************************************************************************************************************************/
#define configCPU_CLOCK_HZ				       ( SystemCoreClock )            //CPU频率
#define configTICK_RATE_HZ				     ( ( TickType_t ) 1000 )          //时钟节拍频率（1ms）
#define configMAX_PRIORITIES			             ( 32 )                   //可使用的最大的优先级（使用stm32引荐的话最多32，软件的话不受限制
                                                                             //（configUSE_PORT_OPTIMISED_TASK_SELECTION 有关））
#define configMINIMAL_STACK_SIZE		    ( ( unsigned short ) 130 )       //空闲任务使用的堆栈大小
//#define configTOTAL_HEAP_SIZE			   ( ( size_t ) ( 75 * 1024 ) )      //系统所有总堆的大小
#define configMAX_TASK_NAME_LEN			             ( 32 )                  //任务名字字符串长度
//#define configUSE_TRACE_FACILITY		                1
#define configUSE_16_BIT_TICKS			                0                   //系统节拍计时器变量数据类型
#define configIDLE_SHOULD_YIELD			                1                   //1表示为16位无符号整形，0表示为32位无符号整型
#define configUSE_MUTEXES				                1                   //为1时使用互斥信号量
#define configQUEUE_REGISTRY_SIZE		                8                   //不为0时表示启用队列记录，具体的值是可以记录的队列和信号量最大数目
#define configCHECK_FOR_STACK_OVERFLOW	                0  //定义为0        //大于0时启用堆栈溢出钩子函数，
#define configUSE_RECURSIVE_MUTEXES		                1                   //为1时使用递归互斥信号量
#define configUSE_MALLOC_FAILED_HOOK	                0   //定义为0       //1使用内存申请失败钩子函数
#define configUSE_APPLICATION_TASK_TAG	                0
#define configUSE_COUNTING_SEMAPHORES	                1                   //为1使用计数信号量

//#define configGENERATE_RUN_TIME_STATS	                0

/************************************************************************************************************/
#define configUSE_TIME_SLICING                          1                   //使能时间片调度（默认式使能）
#define configUSE_PORT_OPTIMISED_TASK_SELECTION         0                   //一般是硬件计算前导零指令，如果所使用的
                                                    //MCU没有这些硬件指令的话此宏应置0！
#define configUSE_TICKLESS_IDLE                         0                   //1启动低功耗tickless
#define configUSE_QUEUE_SETS                            1                   //1启用队列集
#define configUSE_TASK_NOTIFICATIONS                    1                   //为1时开启任务通知功能，默认开启


/******************************FreeRTOS与内存申请有关的配置选项*******************************************/
#define configSUPPORT_DYNAMIC_ALLOCATION                1                   //支持动态内存申请            
#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 75 * 1024 ) )        //系统所有总堆的大小

/******************************************************************************************************/
/******************************FreeRTOS与运行时间的任务状态收集有关的配置选项*****************************/
//#define configGENERATE_RUN_TIME_STATS                   1                   

#define configUSE_TRACE_FACILITY                        1                    //为1时启用可视化的追踪条调试
#define configUSE_STATS_FORMATTING_FUNCTIONS            1
 
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()        ConfigureTimeForRunTimeStats()//需自己要实现(用于初始化TIM定时器)
//#define portALT_GET_RUN_TIME_COUNTER_VALUE(Time)        
#define portGET_RUN_TIME_COUNTER_VALUE()                  FreeRTOSRunTimerTicks       //这值在定时器中断服务自己++;
#define configGENERATE_RUN_TIME_STATS	                1                   //为1时启用运行时间统计  


/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 		                    0
#define configMAX_CO_ROUTINE_PRIORITIES               ( 2 )

/* Software timer definitions. */                                           //（FreeRTOS与软件定时器有关的配置选项）
#define configUSE_TIMERS				                1                   //为1是启用软件定时器
#define configTIMER_TASK_PRIORITY		              ( 2 )                 //软件定时器的优先级
#define configTIMER_QUEUE_LENGTH		                10
#define configTIMER_TASK_STACK_DEPTH	( configMINIMAL_STACK_SIZE * 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet		                1   
#define INCLUDE_uxTaskPriorityGet		                1
#define INCLUDE_vTaskDelete				                1
#define INCLUDE_vTaskCleanUpResources	                1
#define INCLUDE_vTaskSuspend			                1
#define INCLUDE_vTaskDelayUntil			                1
#define INCLUDE_vTaskDelay				                1


#define INCLUDE_xTimerPendFunctionCall                  1                 //开启时间组功能
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
	/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
	#define configPRIO_BITS       		__NVIC_PRIO_BITS
#else
	#define configPRIO_BITS       		                4        /* 15 priority levels */
#endif

/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			0xf

/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	5

/* Interrupt priorities used by the kernel port layer itself.  These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
	
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
//#define configASSERT( x )                 if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }	

//断言
/***********************************************************************************************/
#define vAssertCalled(char,int)             printf("Error:%s , %d\r\n",char,int);
#define configASSERT( x )                   if( ( x ) == 0 ) vAssertCalled(__FILE__,__LINE__); 	

	
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler             //这三个函数是FreeRTOS与MCU库函数的对接口；这三个函数不定义操作系统不能工作（Date：2021620）
#define xPortPendSVHandler PendSV_Handler 
#define xPortSysTickHandler SysTick_Handler

#endif /* FREERTOS_CONFIG_H */

FreeRTOS的库与MCU对接的函数就是文中最后三个宏函数，上面的设置就是为了开启FreeRTOS所需的功能。
断言部分可以根据自己的平台来写

如果想要使用统计运行任务状态函数 [vTaskList(),  vTaskGetRunTimeStats() ], 需要开启一个定时器来自增FreeRTOSRunTimerTicks的值，同时开启宏（上述代码中有说明）
/******************************FreeRTOS与运行时间的任务状态收集有关的配置选项*****************************/

volatile unsigned long long FreeRTOSRunTimerTicks;

void TMR6_GLOBAL_IRQHandler(void)
{
  if (TMR_GetINTStatus(TMR6, TMR_INT_Overflow) == SET)
  {
    FreeRTOSRunTimerTicks++;
    TMR_ClearITPendingBit(TMR6, TMR_INT_Overflow);
  }
}

void ConfigureTimeForRunTimeStats(void)
{
  FreeRTOSRunTimerTicks = 0;
  MX_TIM6_Init();
}